Optimal Standing Jump Trajectory Generation for Biped Robots

International Journal of Precision Engineering and Manufacturing - Tập 21 - Trang 1459-1467 - 2020
DongHyun Ahn1, Baek-Kyu Cho2
1The Robotics and Control Laboratory, Department of Mechanical and Design, Kookmin University, Seoul, Korea
2The Robotics and Control Laboratory, School of Mechanical Engineering, Kookmin University, Seoul, Korea

Tóm tắt

One of the disadvantages of biped robots is the slow movement. Jumping or running can be the solution to this. This paper describes an optimal jump trajectory generation method for biped robots. In order to conveniently create a jumping trajectory, the center of mass trajectory of the robot was divided into vertical and horizontal directions. The vertical trajectory was designed to maintain the desired flight time by considering a capacity of a actuator and the impact force at landing. The horizontal trajectory was designed to conform to the desired horizontal COM velocity at takeoff while maintaining the desired zero moment point by using preview control. We also considered the friction force between the robot and the ground and the region of motion of the robot. This process was defined as a nonlinear optimization problem, and the optimal jump trajectory was obtained. The trajectory was verified by simulation and standing jump experiment of an actual humanoid robot.

Tài liệu tham khảo

Ahn, D., & Cho, B. (2018). Optimal periodic hopping trajectory generation for legged robots. In 2018 IEEE/ASME international conference on advanced intelligent mechatronics (AIM) (pp. 1263–1268).

Cho, B., Ahn, D., Jun, Y., & Oh, P. (2019). A posture balance controller for a humanoid robot using state and disturbance-observer-based state feedback. Journal of Intelligent & Robotic Systems, 95(2), 331–349.

Erbatur, K., & Kurt, O. (2008). Natural ZMP trajectories for biped robot reference generation. IEEE Transactions on Industrial Electronics, 56(3), 835–845.

Han, Y., Jeon, H., & Cho, B. (2020). Development of a humanoid robot for the 2018 ski robot challenge. International Journal of Precision Engineering and Manufacturing, 1–12.

Heo, J., & Oh, J. (2015). Biped walking pattern generation using an analytic method for a unit step with a stationary time interval between steps. IEEE Transactions on Industrial Electronics, 62(2), 1091–1100.

Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., et al. (2003). Biped walking pattern generation by using preview control of zero-moment point. ICRA, 3, 1620–1626.

Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., et al. (2003). Resolved momentum control: Humanoid motion planning based on the linear and angular momentum. In 2003 IEEE/RSJ international conference on intelligent robots and systems, 2003. (IROS 2003). Proceedings (Vol. 2, pp. 1644–1650). IEEE.

Kajita, S., Nagasaki, T., Kaneko, K., & Hirukawa, H. (2007). ZMP-based biped running control. IEEE Robotics Automation Magazine, 14(2), 63–72.

Kalouche, S. (2017). Goat: A legged robot with 3d agility and virtual compliance. In 2017 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 4110–4117). IEEE.

Nagasaki, T., Kajita, S., Kaneko, K., Yokoi, K., & Tanie, K. (2004). A running experiment of humanoid biped. In 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS)(IEEE Cat. No. 04CH37566) (Vol. 1, pp. 136–141). IEEE.

Shimmyo, S., Sato, T., & Ohnishi, K. (2012). Biped walking pattern generation by using preview control based on three-mass model. IEEE Transactions on Industrial Electronics, 60(11), 5137–5147.

Sun, N., Wu, Y., Chen, H., & Fang, Y. (2018). An energy-optimal solution for transportation control of cranes with double pendulum dynamics: Design and experiments. Mechanical Systems and Signal Processing, 102, 87–101.

Tajima, R., Honda, D., & Suga, K. (2009). Fast running experiments involving a humanoid robot. In IEEE international conference on robotics and automation, 2009. ICRA’09 (pp. 1571–1576). IEEE.

Tajima, R., & Suga, K. (2006). Motion having a flight phase: Experiments involving a one-legged robot. In 2006 IEEE/RSJ international conference on intelligent robots and systems (pp. 1726–1731).

Ugurlu, B., & Kawamura, A. (2009). ZMP-based online jumping pattern generation for a one-legged robot. IEEE Transactions on Industrial Electronics, 57(5), 1701–1709.

Ugurlu, B., Saglia, J. A., Tsagarakis, N. G., Morfey, S., & Caldwell, D. G. (2014). Bipedal hopping pattern generation for passively compliant humanoids: Exploiting the resonance. IEEE Transactions on Industrial Electronics, 61(10), 5431–5443.

Thông tin
Thông tin xuất bản

International Journal of Precision Engineering and Manufacturing

Tập 21

1459-1467

Thông tin tác giả